EP0035952A2 - Automatic tool changing device adaptable to be mounted on machine tools having a vertical or horizontal spindle, and automatic means for handling and positioning these tools in the spindles of machine tools - Google Patents

Automatic tool changing device adaptable to be mounted on machine tools having a vertical or horizontal spindle, and automatic means for handling and positioning these tools in the spindles of machine tools Download PDF

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Publication number
EP0035952A2
EP0035952A2 EP81420028A EP81420028A EP0035952A2 EP 0035952 A2 EP0035952 A2 EP 0035952A2 EP 81420028 A EP81420028 A EP 81420028A EP 81420028 A EP81420028 A EP 81420028A EP 0035952 A2 EP0035952 A2 EP 0035952A2
Authority
EP
European Patent Office
Prior art keywords
tool
machine
spindle
sector
tools
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP81420028A
Other languages
German (de)
French (fr)
Other versions
EP0035952A3 (en
EP0035952B1 (en
Inventor
Georges Moulin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
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Filing date
Publication date
Priority claimed from FR8005680A external-priority patent/FR2477454A1/en
Priority claimed from FR8012000A external-priority patent/FR2483291B1/en
Application filed by Individual filed Critical Individual
Publication of EP0035952A2 publication Critical patent/EP0035952A2/en
Publication of EP0035952A3 publication Critical patent/EP0035952A3/en
Application granted granted Critical
Publication of EP0035952B1 publication Critical patent/EP0035952B1/en
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
    • B23Q3/15753—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane perpendicular to the axis of the spindle
    • B23Q3/15766—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane perpendicular to the axis of the spindle the axis of the stored tools being arranged perpendicularly to the rotating or circulating plane of the storage means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15706—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a single tool being inserted in a spindle directly from a storage device, i.e. without using transfer devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
    • B23Q3/15722—Rotary discs or drums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B23Q2003/15527—Storage devices; Drive mechanisms therefor the storage device including means to latch tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B23Q2003/15528—Storage devices; Drive mechanisms therefor the storage device including means to project tools therefrom, e.g. for transferring them
    • B23Q2003/1553—Storage devices; Drive mechanisms therefor the storage device including means to project tools therefrom, e.g. for transferring them by rectilinear projection
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T408/00—Cutting by use of rotating axially moving tool
    • Y10T408/36—Machine including plural tools
    • Y10T408/37—Turret of tools
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1809—Matrix including means to latch tool
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1818—Matrix including means to project tool for transfer
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1873—Indexing matrix
    • Y10T483/1882—Rotary disc

Definitions

  • the invention relates to an automatic tool changer device, adaptable to all machine tools with vertical or horizontal spindle, and the automatic means for gripping and positioning said tools in the spindles of machine tools.
  • the changer can be either integrated into the machine tool, or added later and adapted on the latter.
  • this device comprises a tool storage magazine mounted on a sheath forming a support, having a freedom of movement controlled in height, said magazine composed of independent tool-holder sectors, moving circularly relative to its support, each sector moving in an alternating and rectilinear manner in height, according to the generator of the magazine, in order to allow, after selection of a tool then separation in the radial plane of the tool-holder sector chosen compared to the other tool-holder sectors, gripping, releasing and positioning the tool chosen in the spindle of the machine tool, and this, directly or indirectly by an intermediate means also having the capacity to move ment in height and in rotation, all the movements making it possible to engage or disengage the tool chosen in the spindle of the machine tool.
  • Figures 11, 12, 13, 14 are purely schematic views illustrating the kinematic chain of operation of the tool changer relative to the spindle of a machine tool.
  • the tool changer is made up of a base 1 used to fix the device and to receive all the organs constituting it, by means of a slide 2 provided with a system allowing the axial displacement of a sheath 3. This movement is used for adjusting and positioning the cones 8 of the tool holders relative to the spindle of the machine 23. This sheath is guided radially by a key 4 sliding in a groove 5 or any other equivalent system .
  • the displacement of the sleeve 3 can be ensured by means of screws and nuts 3b, hydraulically, electrically, manually or automatically.
  • This sheath 3 supports a rotary rotary barrel 6 receiving on its periphery, any number of sectors 7, all of these sectors forming a crown, base of the tool magazine.
  • Each tool holder sector comprises in its axial thickness a bore 7 1 allowing its engagement on a guide pin 16; said sector has externally, a stepped extension in two parts, on the first intermediate part being formed a groove in a circular arc profile 7 2 , on the second part (73) being arranged to receive the tool holder clamping means .
  • Each sector receives a tool held in position and in orientation by a gripping system illustrated in FIG. 3, which can consist of two half-pliers 9A - 9B, the internal ends of which form hooks 9C in order to hold and position the tool by its flange 10.
  • the profile of the pliers is studied to hold the tool radially, FIG. 4.
  • the dcsi-clamps are held laterally by the axes 1 1 which serve as their point of rotation.
  • a spring 12 keeps the hooks 9C closed, when the clamp is in the rest position.
  • the rear part 9D of the two half-clamps has a conical projecting profile.
  • a double-acting hydraulic cylinder 24, permanently fixed to the sheath 3 causes the clamps to open due to the development of its rod 25, the end piece 25 1 of which is profiled in a manner complementary to the rear profile 9D of the clamps, making cam office.
  • the nozzle 25 1 engages and bears on the rear parts of the clamps, gradually causing them to open by compressing the spring 12 disposed between the facing walls 9E.
  • the sectors 7 have a rotational movement given by the driving of the barrel 6.
  • the control of this movement can be a ratchet, cam, malta cross system, by hydraulic, electric or other motor, provided that it allows to position each sector with precision.
  • the purpose of the rotation and positioning of the barrel is to place the tail of the tool and the cone of the spindle which is to receive this tool in the same angular axis.
  • the sectors 7 also receive an alternating rectilinear movement allowing, after the angular position of the tool 8, to engage it in the cone of the spindle 13.
  • the movement is given by a double-acting cylinder 14 fixed on a support 15 integral with the sheath 3 and whose rod 14 1 controls the sector 7 by means of a connection which can be a circular groove 72 in the shape of a female T, in which the end piece 14 4 engages the male T-shaped cylinder rod.
  • the sectors 7 are guided in their rectilinear movement by an axis 16 held by two cheeks 17 - 18 secured to the barrel 6.
  • the security system prohibits the movement of the sectors if they are not controlled by the jack 14.
  • This security consists of a ring 19 having a flange 19 1 engaging in the groove 7 2 in shape of T, the collar taking place in the wing of the T; it appears that no rectilinear displacement of the sectors is possible, while the entire tool magazine can freely rotate.
  • a portion of the ring 19 has been removed in order to allow the sector 7 to be displaced in height.
  • Micro-contacts 21 - 22 guarantee the correct orientation of the barrel as well as the correct positioning of the sectors.
  • the cone 13 of the spindle 23 without tools is presented in the axis of the tool to be loaded 8.
  • the locking system 27 in the cone of the spindle is in the open position.
  • the jack 14 moves the chosen sector vertically, to introduce the cone of the tool 8 into the cone of the spindle 13.
  • the locking system in the cone of the spindle grasps the tool and fixes it.
  • the jack 24 moves the cam 25 1 which opens the clamps 9A - 9B, releasing the tool.
  • the loaded spindle can be released according to arrow F1.
  • the jacks 14 and 24 are under pressure. A safety system immediately stops the operation of the machine if any of these cylinders is not under normal pressure.
  • the spindle returns to the initial position, engaging the tool in its housing on the sector 7 3 .
  • the jack 24 withdraws, releasing the cam 25 1 , then under the action of the spring 12, the two half-clamps close and hold the tool.
  • the attachment system located in the machine spindle opens and ejects the tool.
  • the jack 14 retracts, driving the sector 7 and the tool in the low position, completely releasing the cone from the tool.
  • the barrel 6 is then driven a fraction of a turn, by the device 20, putting the tool in the change position for a new cycle.
  • the automatic tool changer thus described can be mounted or integrated on any type of machine and can cooperate with several tools for gripping the tools.
  • FIGS. 1, 5 and 6 a machine tool has been illustrated making it possible to machine all geometric shapes by virtue of its ability to move in the three axes XX - YY - ZZ.
  • the tool changer 27 is mounted on the frame 28 of the machine ( Figure 1).
  • the spindle 29 of the machine is brought in the same axis as the axis of the tool holder.
  • a rectilinear movement in height according to the arrows C - D, one of the sectors 30 of the changer, moves vertically on the control of the jack 31, to bring the tool 38 into the spindle.
  • a turret head movable in height and in rotation D, mounted at the end of a vertical column E, opposite the tool magazine, internally receives two gripping arms F and G arranged in parallel, movable in translation and comprising at the end the grippers P and P1 with control means; the head D is driven by a rotational movement controlled by a double-acting cylinder, housed in the basic element and not illustrated.
  • the turret or head D authorizes by means of the clamp P or P1 of each of its arms F - G, the taking of a tool 0 on the rotating magazine 40 with a view to its release by withdrawal said arms, then, by the elevation in height of the turret D and after its orientation, the redeployment of the arms F - G in order to obtain at first, the presentation of the tool opposite the spindle K of the machine tool, and in a second step, its displacement in height to authorize the automatic engagement of the cone of the tool 0 presented in the spindle K with a view to its coupling by fitting.
  • These operations are also carried out in an inverse cycle, that is to say for the release of the tool 0 from the spindle of the machine, with a view to its storage on the rotating magazine 40.
  • one of the arms F or G allows loading, while the second arm allows unloading.
  • the head D or turret receives transversely the two arms F and 0 preferably arranged parallel and receiving at the end the gripping pliers P and P1.
  • each arm is established with a cylinder 41 mounted transversely in the head D closed at its end by a cover 42, to allow the sliding housing of the piston 43 with rod 43 1 , the end of which receives a plate for the 'articulation of each of the two opposite jaws 44 and 44 1 forming clamps, and separate control.
  • Pipes not shown provide in known manner, the hydraulic displacement control of the piston 43 in translation in both directions, during the deployment of each rod 4 3 1 , directly constituting the arm F or G; the piston 43 acts at the end of the race, by its shoulder, on the heel of a movable plunger 45 returned by spring, which is made integral with a vertical finger 46 moving in translation to come into contact with a micro- contact 47 controlling the next cycle and the opening or closing of the clamp of the arm in question.
  • the opposite jaws 44 and 44 1 forming pliers are coupled two by two by the head 48 in the shape of a T, engaging by its profiled ends, in corresponding housings or recesses, and whose cylindrical tail 48 is screwed at the end of the rod 49 1 of the auxiliary piston 49 housed in the bore 43 2 of the front part of the rod 43 1 of the piston 43 for controlling the movement of the arm.
  • the auxiliary piston 49 automatically returned to the closed jaws position, by means of a spring 50, is supplied independently by the hydraulic fluid flowing in the channel 51 of a rod 51 mounted axially from its end, on the cover 42 and whose outer periphery allows the bore of the rod 43 1 of the piston 43 to slide.
  • the fluid arriving through the channel 51 1 engages in the bore 43 3 to act on the piston 49 via an axial opening 43 4 , for the sole purpose of controlling the longitudinal displacement in translation of the piston 49 and of the head 48, so as to allow the opposite pivoting of the jaws 44 and 44 1 , with a view to their opening or closing simul tanned which takes place as indicated, at the end of the deployment stroke of the rod 43 acting by the pusher 45 on the micro-contact 47.
  • a cleat 52 secured to its end acts at the end of the closing stroke, on the external end of the movable push-button 45, to inversely control the vertical finger 46 acting on the microswitch opposite 47 1 , to authorize the next cycle.
  • each rod 43 1 forming an arm F or G is ensured by key 53 which also allows its longitudinal sliding.
  • jaws 44 and 44 receive, at their upper end, gripping fingers 54 engaging, during closing, in the notches established on the collar of each tool 0.
  • the head D or turret thus equipped with its gripping arms F and G, can move vertically in translation and rotate in a horizontal plane.
  • the head or turret D occupies the low position and the advanced arm F takes, by its clamp P, the tool 0 on the rotating magazine 40.
  • the arm F urged by the piston 43 is withdrawn against the turret D with a tool in engagement 0, gripped between its jaws, the turret is then controlled in rotation by any appropriate means, in order to present the arm F opposite spindle K of the machine tool, according to figure 13.
  • the head D is then displaced in height along the approach stroke below the plane of the spindle K, then the arm F presents by its displacement in translation, the tool 0 coaxially with said spindle K, FIG. 14, in view of its fitting as a result of the immutable displacement stroke in height of the head D urged by an appropriate command.
  • Tool 0 is thus placed on spindle K of the machine tool, depending on the stroke.
  • the reverse operation is carried out with the withdrawal of the arm F relative to the turret D which partially pivots for the establishment of the unloading arm G of said tool relative to the spindle K , when it is changed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

Il comprend un magasin de stockage d'outils monté sur un fourreau (3) formant support et ayant une liberté de déplacement contrôlé en hauteur. Le magasin est composé de secteurs (7) indépendants porte-outils et se déplace circulairement par rapport à son support (3). Chaque secteur se déplace d'une manière alternative et rectiligne en hauteur suivant la génératrice du magasin afin de permettre après sélection d'un outil puis séparation dans le plan radial du secteur porte-outils choisi par rapport aux autres secteurs porte-outils, la préhension, le dégagement et la mise en place de l'outil choisi dans la broche de la machine par un moyen intermédiaire ayant une capacité de déplacement en hauteur et en rotation, l'ensemble des mouvements permettant d'engager ou de dégager l'outil choisi dans la broche de la machine-outils.It includes a tool storage magazine mounted on a sheath (3) forming a support and having freedom of movement controlled in height. The magazine is composed of independent tool holder sectors (7) and moves circularly relative to its support (3). Each sector moves in an alternative and rectilinear manner in height along the generatrix of the magazine in order to allow, after selection of a tool and then separation in the radial plane of the tool holder sector chosen with respect to the other tool holder sectors. , the release and the installation of the chosen tool in the spindle of the machine by an intermediate means having a capacity of displacement in height and in rotation, the whole of the movements making it possible to engage or to release the chosen tool in the spindle of the machine tool.

Description

L'invention concerne un dispositif changeur automatique d'outils, adaptable sur toutes machines-outils à broche verticale ou horizontale, et les moyens automatiques de préhension et de positionnement desdits outils dans les broches des machines-outils.The invention relates to an automatic tool changer device, adaptable to all machine tools with vertical or horizontal spindle, and the automatic means for gripping and positioning said tools in the spindles of machine tools.

Selon l'invention, le changeur peut être soit intégré à la machine outil, soit rapporté ultérieurement et adapté sur cette dernière.According to the invention, the changer can be either integrated into the machine tool, or added later and adapted on the latter.

Selon une première caractéristique ce dispositif comprend un magasin de stockage d'outils monté sur un fourreau formant support, ayant une liberté de déplacement contrôlé en hauteur, ledit magasin composé de secteurs indépendants porte-outils, se déplaçant circulairement par rapport à son support, chaque secteur se déplaçant d'une manière alternative et rectiligne en hauteur, suivant la génératrice du magasin, afin de permettre, après sélection d'un outil puis séparation dans le plan radial du secteur porte-outil choisi par rapport aux autres secteurs porte-outils, la préhension, le dégagement et la mise en place de l'outil choisi dans la broche de la machine-outil, et ceci, directement ou indirectement par un moyen intermédiaire ayant également une capacité de déplacement en hauteur et en rotation, l'ensemble des mouvements permettant d'engager ou de dégager l'outil choisi dans la broche de la machine-outil.According to a first characteristic, this device comprises a tool storage magazine mounted on a sheath forming a support, having a freedom of movement controlled in height, said magazine composed of independent tool-holder sectors, moving circularly relative to its support, each sector moving in an alternating and rectilinear manner in height, according to the generator of the magazine, in order to allow, after selection of a tool then separation in the radial plane of the tool-holder sector chosen compared to the other tool-holder sectors, gripping, releasing and positioning the tool chosen in the spindle of the machine tool, and this, directly or indirectly by an intermediate means also having the capacity to move ment in height and in rotation, all the movements making it possible to engage or disengage the tool chosen in the spindle of the machine tool.

Ces caractéristiques et d'autres encore ressortiront bien de la suite de la description.These characteristics and others will emerge clearly from the following description.

Pour fixer l'objet de l'invention, sans toutefois le limiter, aux figures des dessins annexés :

  • La figure 1 est une vue de profil d'une machine-outil, avec coupe partielle, illustrant schématiquement l'adaptation du changeur d'outil selon l'invention ; le changeur étant positionné sur le bâti de la machine.
  • La figure 2 est une vue à grande échelle et en coupe illustrant le changeur selon l'invention.
  • La figure 3 est une vue de dessus du magasin du changeur d'outils.
  • La figure 4 est une vue à grande échelle illustrant le positionnement du porte-outil sur l'un des secteurs constituant le magasin.
  • La figure 5 est une vue de côté d'une machine-outil, le changeur étant positionné sur une colonne de la machine laquelle est équipée d'un bras de préhension et de distribution des outils à la broche de la machine.
  • La figure 6 est une vue semblable à la figure 5, illustrant le positionnement du support porte-outil à hauteur de la broche de la machine, en vue du changement de l'outil.
  • La figure 7 est une vue partielle à grande échelle illustrant le changement de l'outil.
  • La figure 8 illustre schématiquement une variante du dispositif de préhension d'outils constitué de deux pinces.
  • La figure 9 est une vue en coupe à grande échelle, selon la figure 8.
  • La figure 10 est une vue de dessus selon la figure 9.
To fix the subject of the invention, without however limiting it, to the figures of the appended drawings:
  • Figure 1 is a side view of a machine tool, partially cut, schematically illustrating the adaptation of the tool changer according to the invention; the changer being positioned on the machine frame.
  • Figure 2 is a large-scale sectional view illustrating the changer according to the invention.
  • Figure 3 is a top view of the tool changer magazine.
  • Figure 4 is a large-scale view illustrating the positioning of the tool holder on one of the sectors constituting the store.
  • FIG. 5 is a side view of a machine tool, the changer being positioned on a column of the machine which is equipped with an arm for gripping and distributing the tools to the spindle of the machine.
  • Figure 6 is a view similar to Figure 5, illustrating the positioning of the tool holder support at the height of the spindle of the machine, for changing the tool.
  • Figure 7 is a partial view on a large scale illustrating the change of the tool.
  • Figure 8 schematically illustrates a variant of the tool gripping device consisting of two pliers.
  • FIG. 9 is a section view on a large scale, according to FIG. 8.
  • FIG. 10 is a top view according to FIG. 9.

Les figures 11, 12, 13, 14 sont des vues purement schématiques illustrant la chaîne cinématique de fonctionnement du changeur d'outils par rapport à la broche d'une machine outils.Figures 11, 12, 13, 14 are purely schematic views illustrating the kinematic chain of operation of the tool changer relative to the spindle of a machine tool.

Afin de rendre plus concret l'objet de l'invention, on le décrit maintenant d'une manière non limitative en se référant aux exemples de réalisation illustrés aux figures des dessins.In order to make the object of the invention more concrete, it is now described in a nonlimiting manner with reference to the exemplary embodiments illustrated in the figures of the drawings.

Le changeur d'outil se compose d'un socle 1 servant à fixer l'appareil et à recevoir l'ensemble des organes le constituant, par l'intermédiaire d'une glissière 2 munie d'un système permettant le déplacement axial d'un fourreau 3. Ce déplacement sert au réglage et à la mise en position des cônes 8 des porte-outils par rapport à la broche de la machine 23. Ce fourreau est guidé radialement par une clavette 4 coulissant dans une rainure 5 ou tout autre système équivalent. En variante, le déplacement du fourreau 3 peut être assuré au moyen de vis et écrous 3b, hydrauliquement, électriquement, manuellement ou automatiquement.The tool changer is made up of a base 1 used to fix the device and to receive all the organs constituting it, by means of a slide 2 provided with a system allowing the axial displacement of a sheath 3. This movement is used for adjusting and positioning the cones 8 of the tool holders relative to the spindle of the machine 23. This sheath is guided radially by a key 4 sliding in a groove 5 or any other equivalent system . Alternatively, the displacement of the sleeve 3 can be ensured by means of screws and nuts 3b, hydraulically, electrically, manually or automatically.

Ce fourreau 3 supporte un barillet rotatif rotatif 6 recevant sur sa périphérie, un nombre quelconque de secteurs 7, l'ensemble de ces secteurs formant une couronne, base du magasin d'outils.This sheath 3 supports a rotary rotary barrel 6 receiving on its periphery, any number of sectors 7, all of these sectors forming a crown, base of the tool magazine.

Chaque secteur porte-outil comprend dans son épaisseur axiale un alésage 71 autorisant son engagement sur un axe de guidage 16 ; ledit secteur présente extérieurement, un prolongement étagé en deux parties, sur la première partie intermédiaire étant réalisée une rainure selon un profil en arc de cercle 7 2, sur la seconde partie (73) etant agencée pour recevoir le moyen de serrage du porte-outil.Each tool holder sector comprises in its axial thickness a bore 7 1 allowing its engagement on a guide pin 16; said sector has externally, a stepped extension in two parts, on the first intermediate part being formed a groove in a circular arc profile 7 2 , on the second part (73) being arranged to receive the tool holder clamping means .

Chaque secteur reçoit un outil maintenu en position et en orientation par un système de préhension illustré figure 3, qui peut être constitué de deux demi-pinces 9A - 9B dont les extrémités internes forment crochets 9C afin de maintenir et de positionner l'outil par sa collerette 10. Le profil de la pince est étudié pour maintenir l'outil radialement, figure 4. Les dcsi-pinces sont maintenues latéralement par les axes 11 qui leur servent de point de rotation. Un ressort 12 maintient les crochets 9C fermés, lorsque la pince est en position de repos.Each sector receives a tool held in position and in orientation by a gripping system illustrated in FIG. 3, which can consist of two half-pliers 9A - 9B, the internal ends of which form hooks 9C in order to hold and position the tool by its flange 10. The profile of the pliers is studied to hold the tool radially, FIG. 4. The dcsi-clamps are held laterally by the axes 1 1 which serve as their point of rotation. A spring 12 keeps the hooks 9C closed, when the clamp is in the rest position.

La partie arrière 9D des deux demi-pinces présente un profil saillant conique. Un vérin hydraulique à double effet 24, fixé à demeure sur le fourreau 3, provoque l'ouverture des pinces par suite du développement de sa tige 25 dont l'embout 25 1 est profilé de manière complémentaire au profil arrière 9D des pinces, en faisant office de came. L'embout 251 s'engage et prend appui sur les parties arrière des pinces, provoquant progressivement leur ouverture en comprimant le ressort 12 disposé entre les parois en regard 9E.The rear part 9D of the two half-clamps has a conical projecting profile. A double-acting hydraulic cylinder 24, permanently fixed to the sheath 3, causes the clamps to open due to the development of its rod 25, the end piece 25 1 of which is profiled in a manner complementary to the rear profile 9D of the clamps, making cam office. The nozzle 25 1 engages and bears on the rear parts of the clamps, gradually causing them to open by compressing the spring 12 disposed between the facing walls 9E.

Les secteurs 7 ont un mouvement de rotation donné par l'entraînement du barillet 6. La commande de ce mouvement peut être un système à rochet, à came, à croix de malte, par moteur hydraulique, électrique ou autre, sous condition qu'elle permette de positionner chaque secteur avec précision. La rotation et le positionnement du barillet ont pour but de mettre dans le même axe angulaire, la queue de l'outil et le cône de la broche devant recevoir cet outil.The sectors 7 have a rotational movement given by the driving of the barrel 6. The control of this movement can be a ratchet, cam, malta cross system, by hydraulic, electric or other motor, provided that it allows to position each sector with precision. The purpose of the rotation and positioning of the barrel is to place the tail of the tool and the cone of the spindle which is to receive this tool in the same angular axis.

Selon une autre caractéristique, les secteurs 7 reçoivent également un mouvement rectiligne alternatif permettant, après la mise en position angulaire de l'outil 8, de l'engager dans le cône de la broche 13. Le mouvement est donné par un vérin à double effet 14 fixé sur un support 15 solidaire du fourreau 3 et dont la tige 141 commande le secteur 7 au moyen d'une liaison qui peut être une rainure circulaire 72 en forme de T femelle, dans laquelle s'engage l'embout 144 de la tige de vérin en forme de T mâle. Les secteurs 7 sont guidés dans leur mouvement rectiligne par un axe 16 maintenu par deux joues 17 - 18 solidaires du barillet 6.According to another characteristic, the sectors 7 also receive an alternating rectilinear movement allowing, after the angular position of the tool 8, to engage it in the cone of the spindle 13. The movement is given by a double-acting cylinder 14 fixed on a support 15 integral with the sheath 3 and whose rod 14 1 controls the sector 7 by means of a connection which can be a circular groove 72 in the shape of a female T, in which the end piece 14 4 engages the male T-shaped cylinder rod. The sectors 7 are guided in their rectilinear movement by an axis 16 held by two cheeks 17 - 18 secured to the barrel 6.

Selon une autre caractéristique, le système de sécurité interdit le déplacement des secteurs s'ils ne sont pas commandés par le vérin 14. Cette sécurité est constituée d'un anneau 19 ayant une collerette 191 s'engageant dans la rainure 72 en forme de T, la collerette prenant place dans l'aile du T ; il apparait qu'aucun déplacement rectiligne des secteurs n'est possible, alors que l'ensemble du magasin d'outils peut librement tourner. Au droit du vérin de commande 14, une portion de l'anneau 19 a été supprimée afin de permettre le déplacement en hauteur du secteur 7. Des micro-contacts 21 - 22 garantissent la bonne orientation du barillet ainsi que la mise en position correcte des secteurs.According to another characteristic, the security system prohibits the movement of the sectors if they are not controlled by the jack 14. This security consists of a ring 19 having a flange 19 1 engaging in the groove 7 2 in shape of T, the collar taking place in the wing of the T; it appears that no rectilinear displacement of the sectors is possible, while the entire tool magazine can freely rotate. In line with the control cylinder 14, a portion of the ring 19 has been removed in order to allow the sector 7 to be displaced in height. Micro-contacts 21 - 22 guarantee the correct orientation of the barrel as well as the correct positioning of the sectors.

On décrit maintenant le fonctionnement du changeur. En position de départ, le cône 13 de la broche 23 sans outil, est présenté dans l'axe de l'outil à charger 8. Le système de blocage 27 dans le cône de la broche, est en position ouverte. Un ordre étant donné, le vérin 14 déplace le secteur choisi verticalement, pour introduire le cône de l'outil 8 dans le cône de la broche 13. Le système de blocage dans le cône de la broche saisit l'outil et le fixe. Le vérin 24 déplace la came 251qui ouvre les pinces 9A - 9B, libérant l'outil. La broche chargée peut être dégagée suivant la flèche F1.The operation of the changer is now described. In the starting position, the cone 13 of the spindle 23 without tools is presented in the axis of the tool to be loaded 8. The locking system 27 in the cone of the spindle is in the open position. An order having been given, the jack 14 moves the chosen sector vertically, to introduce the cone of the tool 8 into the cone of the spindle 13. The locking system in the cone of the spindle grasps the tool and fixes it. The jack 24 moves the cam 25 1 which opens the clamps 9A - 9B, releasing the tool. The loaded spindle can be released according to arrow F1.

Pendant tout le temps de travail de la broche, les vérins 14 et 24 sont sous pression. Un système de sécurité arrête immédiatement le fonctionnement de la machine si l'un quelconque de ces vérins n'est pas en pression normale.During all the working time of the spindle, the jacks 14 and 24 are under pressure. A safety system immediately stops the operation of the machine if any of these cylinders is not under normal pressure.

Pour le changement des outils, la broche revient en position initiale, engageant l'outil dans son logement sur le secteur 73. Le vérin 24 se retire, dégageant la came 251, puis sous l'action du ressort 12, les deux demi-pinces se referment et maintiennent l'outil.To change the tools, the spindle returns to the initial position, engaging the tool in its housing on the sector 7 3 . The jack 24 withdraws, releasing the cam 25 1 , then under the action of the spring 12, the two half-clamps close and hold the tool.

Le système d'accrochage situé dans la broche de la machine s'ouvre et éjecte l'outil. Le vérin 14 se rétracte, entraînant le secteur 7 et l'outil en position basse, dégageant complètement le cône de l'outil. Le barillet 6 est alors entraîné d'une fraction de tour, par le dispositif 20, mettant l'outil en position de changement pour un nouveau cycle.The attachment system located in the machine spindle opens and ejects the tool. The jack 14 retracts, driving the sector 7 and the tool in the low position, completely releasing the cone from the tool. The barrel 6 is then driven a fraction of a turn, by the device 20, putting the tool in the change position for a new cycle.

Le changeur automatique d'outils ainsi décrit peut être monté ou intégré sur tout type de machines et peut coopérer avec plusieurs dispositifs de préhension des outils.The automatic tool changer thus described can be mounted or integrated on any type of machine and can cooperate with several tools for gripping the tools.

Aux figures 1, 5 et 6, on a illustré une machine outil permettant d'usiner toutes formes géométriques grâce à ses facultés de déplacement dans les trois axes XX - YY - ZZ.In FIGS. 1, 5 and 6, a machine tool has been illustrated making it possible to machine all geometric shapes by virtue of its ability to move in the three axes XX - YY - ZZ.

Selon une première possibilité, le changeur d'outil 27 est monté sur le bâti 28 de la machine (figure 1). Par déplacement de l'unité d'usinage 26, selon l'axe XX, la broche 29 de la machine est amenée dans le même axe que l'axe du porte-outil. Par un mouvement rectiligne en hauteur, suivant les flèches C - D, l'un des secteurs 30 du changeur, se déplace verticalement sur la commande du vérin 31, pour amener l'outil 38 dans la broche.According to a first possibility, the tool changer 27 is mounted on the frame 28 of the machine (Figure 1). By displacement of the machining unit 26, along the axis XX, the spindle 29 of the machine is brought in the same axis as the axis of the tool holder. By a rectilinear movement in height, according to the arrows C - D, one of the sectors 30 of the changer, moves vertically on the control of the jack 31, to bring the tool 38 into the spindle.

En variante, on utilise un moyen intermédiaire 32 pour assurer la préhension et la distribution des outils (figures 5, 6 et 7). Sur le côté du bâti de la machine illustrée aux figures 1, 5 et 6, est accolé un montant 33 recevant un bras 34 servant de support et de glissière à l'unité d'usinage 35. Un bras de changement 32 est intégré dans le système et a pour but de saisir les outils, de les extraire du cône de la broche 36 et du distributeur 37, et de les changer. Le cycle est alors le suivant :

  • 1°) arrêt de la broche et indexation de sa position
  • 2°) mise à niveau en H, de l'outil 38 face à la broche, par déplacement du secteur 30
  • 3°) mise en position de préhension du bras 32
  • 4°) dégagement des outils, le bras prend la position H1
  • 5°) rotation du bras d'un demi-tour
  • 6°) engagement des outils inversés, l'outil 38 dans le cône de la broche, l'outil 39 dans le magasin
  • 7°) rotation du bras pour une mise en position de repos dans un plan médian aux positions d'engagement et de dégagemer des outils
  • 8°) retour du secteur porte-outil en position de repos C
  • 9°) rotation du magasin pour présentation de l'outil suivant.
Alternatively, an intermediate means 32 is used to ensure the gripping and the distribution of the tools (FIGS. 5, 6 and 7). On the side of the frame of the machine illustrated in FIGS. 1, 5 and 6, is attached an upright 33 receiving an arm 34 serving as support and slide for the machining unit 35. A change arm 32 is integrated in the system and aims to grab the tools, extract them from the cone of the spindle 36 and the distributor 37, and change them. The cycle is then as follows:
  • 1) stop the spindle and index its position
  • 2 °) leveling in H, of the tool 38 facing the spindle, by displacement of the sector 30
  • 3) placing the arm 32 in the gripping position
  • 4) release of the tools, the arm takes the position H1
  • 5 °) rotation of the arm by half a turn
  • 6 °) engagement of inverted tools, tool 38 in the spindle cone, tool 39 in the magazine
  • 7 °) rotation of the arm for a position of rest in a median plane in the positions of engagement and to release tools
  • 8 °) return of the tool holder sector to rest position C
  • 9 °) rotation of the magazine for presentation of the next tool.

Dans cette forme d'application du changeur, il apparait que le retrait en C de l'outil changé, dégage complètement le champ de travail de la machine.In this form of application of the changer, it appears that the withdrawal in C of the changed tool, completely clears the working field of the machine.

Aux figures suivantes 8 à 14, on a illustré une variante du dispositif de préhension des outils, à partir du magasin d'outils; le magasin d'outils restant le même que celui décrit et illustré précédemment.In the following figures 8 to 14, a variant of the tool gripping device has been illustrated from the tool magazine; the tool magazine remaining the same as that described and illustrated above.

Une tête de tourelle, mobile en hauteur et en rotation D, montée en bout d'une colonne verticale E, en regard du magasin d'outils, reçoit intérieurement deux bras de préhension F et G disposés parallèlement, mobiles en translation et comportant en bout les pinces de préhension P et P1 avec moyen de commande ; la tête D est animée d'un mouvement de rotation commandé par vérin à double effet, logé dans l'élément de base et non illustré.A turret head, movable in height and in rotation D, mounted at the end of a vertical column E, opposite the tool magazine, internally receives two gripping arms F and G arranged in parallel, movable in translation and comprising at the end the grippers P and P1 with control means; the head D is driven by a rotational movement controlled by a double-acting cylinder, housed in the basic element and not illustrated.

Selon une chaîne cinématique déterminée, la tourelle ou tête D autorise par l'intermédiaire de la pince P ou P1 de chacun de ses bras F - G, la prise d'un outil 0 sur le magasin tournant 40 en vue de son dégagement par retrait desdits bras, puis, de par l'élévation en hauteur de la tourelle D et après son orientation, le redéplacement des bras F - G en vue d'obtenir dans un premier temps, la présentation de l'outil en regard de la broche K de la machine-outils, et dans un deuxième temps, son déplacement en hauteur pour autoriser l'engagement automatique du cône de l'outil 0 présenté dans la broche K en vue de son accouplement par emmanchement. Ces opérations s'effectuent également dans un cycle inverse, c'est-à-dire pour le dégagement de l'outil 0 de la broche de la machine, en vue de son rangement sur le magasin tournant 40.According to a determined kinematic chain, the turret or head D authorizes by means of the clamp P or P1 of each of its arms F - G, the taking of a tool 0 on the rotating magazine 40 with a view to its release by withdrawal said arms, then, by the elevation in height of the turret D and after its orientation, the redeployment of the arms F - G in order to obtain at first, the presentation of the tool opposite the spindle K of the machine tool, and in a second step, its displacement in height to authorize the automatic engagement of the cone of the tool 0 presented in the spindle K with a view to its coupling by fitting. These operations are also carried out in an inverse cycle, that is to say for the release of the tool 0 from the spindle of the machine, with a view to its storage on the rotating magazine 40.

On considère également que l'un des bras F ou G permet le chargement, tandis que le deuxième bras autorise le déchargement. La tête D ou tourelle, reçoit transversalement les deux bras F et 0 disposés de préférence parallèlement et recevant en bout les pinces de préhension P et P1.It is also considered that one of the arms F or G allows loading, while the second arm allows unloading. The head D or turret receives transversely the two arms F and 0 preferably arranged parallel and receiving at the end the gripping pliers P and P1.

A cet effet, chaque bras est établi avec un cylindre 41 monté transversalement dans la tête D obturée à son extrémité par un couvercle 42, pour autoriser le logement à coulissement du piston 43 avec tige 431, dont l'extrémité reçoit une plaque pour l'articulation de chacune des deux mâchoires opposées 44 et 441 formant pinces,et à commande séparée.For this purpose, each arm is established with a cylinder 41 mounted transversely in the head D closed at its end by a cover 42, to allow the sliding housing of the piston 43 with rod 43 1 , the end of which receives a plate for the 'articulation of each of the two opposite jaws 44 and 44 1 forming clamps, and separate control.

Des canalisations non représentées assurent à la façon connue, la commande de déplacement hydraulique du piston 43 en translation dans les deux sens, lors du déploiement de chaque tige 43 1, constituant directement le bras F ou G ; le piston 43 agit en fin de course, de par son épaulement,sur le talon d'un poussoir mobile 45 rappelé par ressort, qui est rendu solidaire d'un doigt vertical 46 se déplaçant en translation pour se présenter en appui sur un micro-contact 47 commandant le cycle suivant et l'ouverture ou la fermeture de la pince du bras considéré.Pipes not shown provide in known manner, the hydraulic displacement control of the piston 43 in translation in both directions, during the deployment of each rod 4 3 1 , directly constituting the arm F or G; the piston 43 acts at the end of the race, by its shoulder, on the heel of a movable plunger 45 returned by spring, which is made integral with a vertical finger 46 moving in translation to come into contact with a micro- contact 47 controlling the next cycle and the opening or closing of the clamp of the arm in question.

A cet effet, les mâchoires opposées 44 et 441 formant pinces sont accouplées deux à deux par la tête 48 en forme de T, s'engageant de par ses extrémités profilées, dans des logements ou creusures correspondantes,et dont la queue cylindrique 48 est vissée en bout de la tige 491 du piston auxiliaire 49 logé dans l'alésage 432 de la partie avant de la tige 431 du piston 43 de commande de déplacement du bras.To this end, the opposite jaws 44 and 44 1 forming pliers are coupled two by two by the head 48 in the shape of a T, engaging by its profiled ends, in corresponding housings or recesses, and whose cylindrical tail 48 is screwed at the end of the rod 49 1 of the auxiliary piston 49 housed in the bore 43 2 of the front part of the rod 43 1 of the piston 43 for controlling the movement of the arm.

Le piston auxiliaire 49 rappelé automatiquement en position de fermeture des mâchoires., par l'intermédiaire d'un ressort 50, est alimenté indépendamment par le fluide hydraulique circulant dans le canal 51 d'une tige 51 montée axialement de par son extrémité, sur le couvercle 42 et dont la périphérie extérieure permet le coulissement de l'alésage de la tige 431 du piston 43.The auxiliary piston 49 automatically returned to the closed jaws position, by means of a spring 50, is supplied independently by the hydraulic fluid flowing in the channel 51 of a rod 51 mounted axially from its end, on the cover 42 and whose outer periphery allows the bore of the rod 43 1 of the piston 43 to slide.

Le fluide arrivant par le canal 511, s'engage dans l'alésage 433 pour agir sur le piston 49 par l'intermédiaire d'une ouverture axiale 434, à seule fin de commander le déplacement longitudinal en translation du piston 49 et de la tête 48, de manière à permettre le pivotement opposé des mâchoires 44 et 441, en vue de leur ouverture ou fermeture simultanée qui s'effectue comme indiqué,en fin de course de déploiement de la tige 43 agissant de par le poussoir 45 sur le micro-contact 47.The fluid arriving through the channel 51 1 , engages in the bore 43 3 to act on the piston 49 via an axial opening 43 4 , for the sole purpose of controlling the longitudinal displacement in translation of the piston 49 and of the head 48, so as to allow the opposite pivoting of the jaws 44 and 44 1 , with a view to their opening or closing simul tanned which takes place as indicated, at the end of the deployment stroke of the rod 43 acting by the pusher 45 on the micro-contact 47.

Dans le cas contraire de fermeture du bras 431, un taquet 52 solidaire de son extrémité, agit en fin de course de fermeture, sur l'extrémité extérieure du poussoir mobile 45, pour commander inversement le doigt vertical 46 agissant sur le micro-contact opposé 471,en vue d'autoriser le cycle suivant.In the opposite case of closing of the arm 43 1 , a cleat 52 secured to its end, acts at the end of the closing stroke, on the external end of the movable push-button 45, to inversely control the vertical finger 46 acting on the microswitch opposite 47 1 , to authorize the next cycle.

On note également que le positionnement circulaire de chaque tige 431 formant bras F ou G, est assuré par clavette 53 qui permet également son coulissement longitudinal.It is also noted that the circular positioning of each rod 43 1 forming an arm F or G, is ensured by key 53 which also allows its longitudinal sliding.

Il faut également noter que les mâchoires 44 et 44 reçoivent à leur extrémité supérieure, des doigts de préhension 54 s'engageant, lors de la fermeture, dans les encoches établies sur la collerette de chaque outil 0.It should also be noted that the jaws 44 and 44 receive, at their upper end, gripping fingers 54 engaging, during closing, in the notches established on the collar of each tool 0.

La tête D ou tourelle ainsi équipée de ses bras de préhension F et G, peut se déplacer verticalement en translation et tourner dans un plan horizontal.The head D or turret thus equipped with its gripping arms F and G, can move vertically in translation and rotate in a horizontal plane.

Selon la figure 11, la tête ou tourelle D occupe la position basse et le bras F avancé prend par sa pince P, l'outil 0 sur le magasin tournant 40.According to FIG. 11, the head or turret D occupies the low position and the advanced arm F takes, by its clamp P, the tool 0 on the rotating magazine 40.

Selon la figure 12, le bras F sollicité par le piston 43, est retiré contre la tourelle D avec un outil en prise 0, saisi entre ses mâchoires, la tourelle est ensuite commandée en rotation par tous moyens appropriés, en vue de présenter le bras F en regard de la broche K de la machine-outils, selon figure 13.According to FIG. 12, the arm F urged by the piston 43 is withdrawn against the turret D with a tool in engagement 0, gripped between its jaws, the turret is then controlled in rotation by any appropriate means, in order to present the arm F opposite spindle K of the machine tool, according to figure 13.

La tête D est ensuite déplacée en hauteur suivant la course d'approche au-dessous du plan de la broche K , puis le bras F présente de par son déplacement en translation, l'outil 0 coaxialement à ladite broche K , figure 14, en vue de son emmanchement par suite de la course de déplacement immuable en hauteur de la tête D sollicitée par une commande appropriée.The head D is then displaced in height along the approach stroke below the plane of the spindle K, then the arm F presents by its displacement in translation, the tool 0 coaxially with said spindle K, FIG. 14, in view of its fitting as a result of the immutable displacement stroke in height of the head D urged by an appropriate command.

L'outil 0 est ainsi mis en place sur la broche K de la machine-outils, suivant la course.Tool 0 is thus placed on spindle K of the machine tool, depending on the stroke.

L'opération inverse s'effectue avec le retrait du bras F par rapport à la tourelle D qui pivote partiellement pour la mise en place du bras de déchargement G dudit outil par rapport à la broche K , lors de son changement.The reverse operation is carried out with the withdrawal of the arm F relative to the turret D which partially pivots for the establishment of the unloading arm G of said tool relative to the spindle K , when it is changed.

Il est bien évident que les commandes hydrauliques et électriques de ce changeur d'outils restent réalisées à la façon connue et qu'un seul bras peut être utilisé.It is obvious that the hydraulic and electrical controls of this tool changer remain carried out in the known manner and that only one arm can be used.

Les avantages ressortent bien de la description. En particulier on souligne la conception simple et fiable du changeur d'outils, ses différents possibilités d'adaptation sur des machines-outils et les moyens de préhension et de distribution des outils du changeur à la broche de la machine.The advantages are apparent from the description. In particular, the simple and reliable design of the tool changer, its various possibilities of adaptation on machine tools and the means for gripping and distributing the tools from the changer to the spindle of the machine are emphasized.

Claims (12)

1. Dispositif changeur automatique d'outils, adaptable sur toutes machines-outils, caractérisé en ce qu'il comprend un magasin de stockage d'outils, monté sur un fourreau (3) formant support et ayant une liberté de déplacement contrôlé en hauteur, ledit magasin composé de secteurs (7) indépendants porte-outils, se déplaçant circulairement par rapport à son support (3), chaque secteur se déplaçant d'une manière alternative et rectiligne en hauteur, suivant la génératrice du magasin, afin de permettre, après sélection d'un outil puis séparation dans le plan radial du secteur porte-outils choisi par rapport aux autres secteurs porte-outils, la préhension, le dégagement et la mise en place de l'outil choisi dans la broche (23) de la machine-outils, et ceci directement ou indirectement par un moyen intermédiaire ayant également une capacité de déplacement en hauteur et en rotation, l'ensemble des mouvements permettant d'engager ou de dégager l'outil choisi dans la broche de la machine-outils.1. Automatic tool changer device, adaptable to all machine tools, characterized in that it comprises a tool storage magazine, mounted on a sheath (3) forming a support and having a freedom of movement controlled in height, said magazine composed of independent tool holder sectors (7), moving circularly with respect to its support (3), each sector moving in an alternating and rectilinear manner in height, according to the generator of the magazine, in order to allow, after selection of a tool then separation in the radial plane of the tool-holder sector chosen with respect to the other tool-holder sectors, the gripping, the release and the positioning of the tool chosen in the spindle (23) of the machine -tools, and this directly or indirectly by an intermediate means also having a capacity of displacement in height and in rotation, the set of movements making it possible to engage or disengage the chosen tool in the spindle of the machine tool s. 2. Dispositif changeur automatique d'outils selon la revendication 1, caractérisé en ce que le magasin de stockage d'outils comprend un barillet (6) monté en rotation par tous moyens appropriés, sur le fourreau (3), ledit barillet présentant à ses extrémités transversales, des joues (17 - 18) entre lesquelles sont disposés des axes de guidage (16) sur lesquels sont montés à coulissement les secteurs (7) porte-outils du magasin.2. Automatic tool changer device according to claim 1, characterized in that the tool storage magazine comprises a barrel (6) rotatably mounted by any appropriate means, on the sheath (3), said barrel having at its transverse ends, cheeks (17 - 18) between which are arranged guide pins (16) on which are slidably mounted the sectors (7) tool holders of the store. 3. Dispositif changeur automatique d'outils selon les revendications 1 et 2 ensemble, caractérisé en ce que chaque secteur porte-outil comprend dans son épaisseur axiale, un alésage autorisant son engagement sur un axe de guidage (16), ledit secteur présente extérieurement mi prolongement étagé en deux parties, la première partie intermédiaire présentant une rainure intérieure en T selon un profil en arc de cercle, et la seconde partie extrême étant agencée pour recevoir le moyen de serrage du porte-outils, l'ensemble des secteurs porte-outils définissant une rainure circulaire continue.3. Device automatic tool changer according to claims 1 and 2 together, characterized in that each tool holder sector comprises in its axial thickness, a bore allowing its engagement on a guide axis (16), said sector has externally mi stepped extension in two parts, the first intermediate part having an internal T-shaped groove in a circular arc profile, and the second end part being arranged to receive the tool holder clamping means, all the tool holder sectors defining a continuous circular groove. 4. Dispositif changeur automatique d'outils selon 1, 2 et 3 ensemble, caractérisé en ce que le barillet (6) reçoit sur sa périphérie un nombre quelconque de secteurs (7), chaque secteur recevant un porte-outil maintenu en position et en orientation par un moyen de préhension composé de deux demi-pinces (9A -9B) dont les extrémités internes forment crochets (9C) afin de maintenir et de positionner le porte-outil par ses encoches établies sur sa collerette.4. Automatic tool changer device according to 1, 2 and 3 together, characterized in that the barrel (6) receives on its periphery any number of sectors (7), each sector receiving a tool holder held in position and in orientation by a gripping means composed of two half-clamps (9A -9B) whose internal ends form hooks (9C) in order to maintain and position the tool holder by its notches established on its flange. 5. Dispositif changeur automatique d'outils selon 4, caractérisé en ce que les demi-pinces constituant chaque moyen de serrage de chaque porte-outil, sont maintenues librement par des axes (11) fixés à chaque secteur (7), en leur servant de point de rotation ; la partie arrière (9D) des deux demi-pinces étant profilée selon un profil saillant conique, un ressort étant maintenu en compression entre les parois en regard des parties arrière des demi-pinces, pour assurer le serrage du porte-outil.5. Automatic tool changer device according to 4, characterized in that the half-clamps constituting each clamping means of each tool holder, are held freely by pins (11) fixed to each sector (7), serving them point of rotation; the rear part (9D) of the two half-pliers being profiled according to a conical projecting profile, a spring being kept in compression between the walls opposite the rear parts of the half-pliers, to ensure the tightening of the tool holder. 6. Dispositif changeur automatique d'outils selon 1, 2, 3, 4 et 5 ensemble, caractérisé en ce qu'un moyen unique (24) du type vérin, fixé sur le fourreau (3), permet par suitedu développement de sa tige (25) dont l'embout (251) est profilé en forme de came, de manière complémentaire au profil arrière (9D) des pinces, et de l'engagement de l'embout (251) sur ces dernières, de provoquer progressivement l'ouverture des pinces en comprimant le ressort de rappel (12)., en libérant le porte-outil.6. Device automatic tool changer according to 1, 2, 3, 4 and 5 together, characterized in that a single means (24) of the jack type, fixed on the sheath (3), allows by suitedu development of its rod (25) whose end piece (25 1 ) is profiled in the shape of a cam, in a complementary manner to the rear profile (9D) of the clamps, and the engagement of the end piece (25 1 ) on the latter, gradually causing opening of the pliers by compressing the return spring (12)., releasing the tool holder. 7. Dispositif changeur automatique d'outils selon 2, caractérisé en ce que le fourreau (3) présente à son extrémité inférieure, un prolongement radial formant support (15) sur lequel est positionné de manière fixe un vérin (14) dont l'extrémité profilée (141) de sa tige de développement, est logée dans la rainure circulaire continue (72), sur la périphérie restante dudit support étant positionné fixement un anneau de sécurité (19) dont l'extrémité supérieure (19) est engagée également dans la rainure circulaire ; ledit anneau présentant une ouverture de la dimension d'un secteur, la dite ouverture se situant dans l'axe du vérin (14).7. Automatic tool changer device according to 2, characterized in that the sleeve (3) has at its lower end, a radial extension forming a support (15) on which is fixedly positioned a jack (14) whose end profiled (14 1 ) of its development rod, is housed in the continuous circular groove (7 2 ), on the remaining periphery of said support being fixedly positioned a safety ring (19) whose upper end (19) is also engaged in the circular groove; said ring having an opening the size of a sector, said opening being located in the axis of the jack (14). 8. Dispositif changeur automatique d'outils selon 7, caractérisé en ce que des micro-contacts (21 - 22) sont disposés sur le support (15) solidaire du fourreau et garantissent le positionnement correct des secteurs en vue de leur élévation au moyen du vérin 14.8. Automatic tool changer device according to 7, characterized in that micro-contacts (21 - 22) are arranged on the support (15) integral with the sheath and guarantee the correct positioning of the sectors with a view to raising them by means of the cylinder 14. 9. Dispositif changeur automatique d'outils selon 1, caractérisé en ce qu'un bras de changement (32) est intégré dans la colonne de la machine et a pour but de saisir les outils, des les extraire du cône de la broche de la machine et du distributeur, et de les changer.9. Automatic tool changer device according to 1, characterized in that a change arm (32) is integrated in the column of the machine and has the purpose of gripping the tools, extracting them from the cone of the spindle of the machine and dispenser, and change them. 10. Dispositif changeur automatique d'outils selon 1, caractérisé en ce qu'il comprend une tête mobile (D) verticalement et en rotation, avec à sa partie supérieure un ou deux bras de préhension (F - G) horizontaux, parallèles ou non, mobiles en translation'et munis en bout de pinces (P - P1), à leurs extrémités, pour saisir, dégager ou engager les outils à transférer, montés dans la broche de la machine-outils, en vue de leur transfert jusqu'au magasin d'outils (40), ou réciproquement.10. Automatic tool changer device according to 1, characterized in that it comprises a movable head (D) vertically and in rotation, with at its upper part one or two horizontal gripping arms (F - G), parallel or not , mobile in translation and fitted at the end of pliers (P - P1), at their ends, for gripping, releasing or engaging the tools to be transferred, mounted in the spindle of the machine tool, for their transfer to the tool magazine (40), or vice versa. 11. Dispositif changeur automatique d'outils selon 10, caractérisé en ce que chaque bras de préhension horizontal est établi avec un cylindre (41) monté transversalement dans la tête (D) mobile, dans lequel se déplace un piston principal (43) mobile dans les deux sens, dont la tige (431) autorise en bout l'articulation de deux mâchoires (44 - 44 ) opposées formant pince de préhension ; ledit piston principal guidé longitudinalement, coopère en fin de course avec un poussoir (45) mobile se déplaçant en translation entre deux micro-contacts (47 - 47 ) électriques, de commande d'ouverture ou de fermeture des pinces de préhension (P - P1).11. Automatic tool changer device according to 10, characterized in that each horizontal gripping arm is established with a cylinder (41) mounted transversely in the movable head (D), in which a main piston (43) movable in the two directions, the rod (43 1 ) of which allows the articulation of two jaws (44 - 44) opposite, forming gripping pliers; said main piston guided longitudinally, cooperates at the end of the race with a movable pusher (45) moving in translation between two electric micro-contacts (47 - 47), for controlling the opening or closing of the gripping pliers (P - P1 ). 12. Dispositif changeur automatique d'outils selon 10 et 11 ensemble, caractérisé en ce que les mâchoires (44 - 44 ) rappelées par ressort (50) en position de fermeture, sont accouplées deux à deux par une tête (48) coulissante en forme de T, dont la queue (481) est rendue solidaire de la tige (491) d'un piston auxiliaire (49) logé dans la partie avant (432) de la tige du piston de commande principal (43) de déploiement du bras, et dont la commande hydraulique d'ouverture s'effectue par le poussoir mobile (45) agissant en fin de course de déploiement sur le micro-contact (47) ; un taquet (52) solidaire de l'extrémité du piston principal agissant inversement lors de la fermeture sur le poussoir mobile qui agit sur le micro-contact (471) opposé, en vue d'autoriser le cycle suivant.12. Automatic tool changer device according to 10 and 11 together, characterized in that the jaws (44 - 44) returned by spring (50) in the closed position, are coupled two by two by a head (48) sliding in shape of T, whose tail (48 1 ) is made integral with the rod (49 1 ) of an auxiliary piston (49) housed in the part front (43 2 ) of the main control piston rod (43) for deploying the arm, and the hydraulic opening control of which is effected by the mobile pusher (45) acting at the end of the deployment stroke on the micro- contact (47); a cleat (52) secured to the end of the main piston acting inversely during closing on the movable pusher which acts on the opposite micro-contact (47 1 ), in order to authorize the next cycle.
EP81420028A 1980-03-04 1981-03-03 Automatic tool changing device adaptable to be mounted on machine tools having a vertical or horizontal spindle, and automatic means for handling and positioning these tools in the spindles of machine tools Expired EP0035952B1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
FR8005680 1980-03-04
FR8005680A FR2477454A1 (en) 1980-03-07 1980-03-07 Revolving magazine for automatic cutter changer - has vertical drum with vertically reciprocating tool-holder segments mounted on barrel
FR8012000 1980-05-23
FR8012000A FR2483291B1 (en) 1980-05-27 1980-05-27 NUMERICALLY CONTROLLED DRILLING CENTER WITH AUTOMATIC TOOL CHANGER AND ORGAN SAFETY CONTROL

Publications (3)

Publication Number Publication Date
EP0035952A2 true EP0035952A2 (en) 1981-09-16
EP0035952A3 EP0035952A3 (en) 1981-09-30
EP0035952B1 EP0035952B1 (en) 1985-12-11

Family

ID=26221663

Family Applications (1)

Application Number Title Priority Date Filing Date
EP81420028A Expired EP0035952B1 (en) 1980-03-04 1981-03-03 Automatic tool changing device adaptable to be mounted on machine tools having a vertical or horizontal spindle, and automatic means for handling and positioning these tools in the spindles of machine tools

Country Status (8)

Country Link
US (1) US4419807A (en)
EP (1) EP0035952B1 (en)
AT (1) ATE16903T1 (en)
CA (1) CA1160439A (en)
CH (1) CH646085A5 (en)
DE (2) DE35952T1 (en)
ES (1) ES500094A0 (en)
IT (1) IT1167710B (en)

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FR2533156A1 (en) * 1982-09-18 1984-03-23 Ex Cell O Gmbh LOCKING DEVICE FOR LOCKING TOOLS IN A TOOL STORE
EP0144912A2 (en) * 1983-12-06 1985-06-19 MAHO WERKZEUGMASCHINENBAU BABEL & CO. Tool changer for milling and drilling machines
FR2566742A1 (en) * 1984-06-27 1986-01-03 Airiau Thierry Automatic palletisation installation with interchangeable gripping tools
EP0481275A1 (en) * 1990-10-09 1992-04-22 Chiron-Werke GmbH & Co. KG Machine tool with tool changing device
WO2006018017A2 (en) * 2004-08-20 2006-02-23 Mauser-Werke Oberndorf Maschinenbau Gmbh Tool holder comprising a locking element
EP2191933A1 (en) * 2008-11-27 2010-06-02 Deckel Maho Seebach GmbH Tool change for machine tools
IT202000014026A1 (en) * 2020-06-11 2021-12-11 Cms Spa TOOL-HOLDER MAGAZINE, MACHINE FOR MACHINING PIECES INCLUDING SUCH MAGAZINE, TOOL CHANGE METHOD IN SAID MACHINE

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US4761876A (en) * 1986-04-18 1988-08-09 Dynamotion Corporation High speed precision drilling system
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US9314860B1 (en) * 2015-05-19 2016-04-19 Johnson Technology, Inc. Electrical discharge machining automated electrode changer
DE102017201788A1 (en) * 2017-02-03 2018-08-09 Trumpf Schweiz Ag tool cartridge
CN106944864B (en) * 2017-05-10 2023-01-17 荆州荆福汽车零部件有限公司 Automatic machining machine table for automobile suspension ball pin shell
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FR2529127A1 (en) * 1982-06-24 1983-12-30 Dana Corp AUTOMATIC TOOL CHANGE APPARATUS, TOOL STORE USED WITH THE APPARATUS, METHOD FOR SELECTIVELY ROTATING TOOL CARROUSEL, AND TOOL HOLDER ASSEMBLY
FR2533156A1 (en) * 1982-09-18 1984-03-23 Ex Cell O Gmbh LOCKING DEVICE FOR LOCKING TOOLS IN A TOOL STORE
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EP0144912A3 (en) * 1983-12-06 1986-11-26 MAHO WERKZEUGMASCHINENBAU BABEL & CO. Tool changer for milling and drilling machines
FR2566742A1 (en) * 1984-06-27 1986-01-03 Airiau Thierry Automatic palletisation installation with interchangeable gripping tools
EP0481275A1 (en) * 1990-10-09 1992-04-22 Chiron-Werke GmbH & Co. KG Machine tool with tool changing device
WO2006018017A2 (en) * 2004-08-20 2006-02-23 Mauser-Werke Oberndorf Maschinenbau Gmbh Tool holder comprising a locking element
WO2006018017A3 (en) * 2004-08-20 2006-06-22 Mauser Werke Oberndorf Maschb Tool holder comprising a locking element
EP2191933A1 (en) * 2008-11-27 2010-06-02 Deckel Maho Seebach GmbH Tool change for machine tools
IT202000014026A1 (en) * 2020-06-11 2021-12-11 Cms Spa TOOL-HOLDER MAGAZINE, MACHINE FOR MACHINING PIECES INCLUDING SUCH MAGAZINE, TOOL CHANGE METHOD IN SAID MACHINE

Also Published As

Publication number Publication date
ES8202708A1 (en) 1981-12-16
DE35952T1 (en) 1983-07-07
IT1167710B (en) 1987-05-13
IT8120126A0 (en) 1981-03-04
CA1160439A (en) 1984-01-17
ATE16903T1 (en) 1985-12-15
CH646085A5 (en) 1984-11-15
EP0035952A3 (en) 1981-09-30
EP0035952B1 (en) 1985-12-11
US4419807A (en) 1983-12-13
DE3173168D1 (en) 1986-01-23
ES500094A0 (en) 1981-12-16

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